Arrangement control system, arrangement control apparatus, and arrangement control method

Abstract

In an arrangement control system, an acquisition unit acquires upper limit information indicating an arrangement space in a candidate arrangement location of a target object and target object information including size information indicating a size of the target object. In addition, the acquisition unit acquires information regarding the occupied space of the arrangement object arranged in the candidate arrangement location detected by a sensing unit. A determination unit determines whether a target object can be arranged in the candidate arrangement location based on the upper limit information, the target object information, and the information regarding the occupied space of the arrangement object acquired by the acquisition unit.

What is claimed is: 
     
         1 . An arrangement control system comprising:
 at least one memory storing instructions, and   at least one processor configured to execute the instructions to;   acquire upper limit information indicating an arrangement space in a candidate arrangement location of a target object, target object information including size information indicating a size of the target object, and information regarding an occupied space of an arrangement object arranged in the candidate arrangement location detected by a sensing means; and   output a determination result obtained by determining whether the target object can be arranged in the candidate arrangement location based on the upper limit information, the target object information, and the information regarding the occupied space of the arrangement object.   
     
     
         2 . The arrangement control system according to  claim 1 , wherein the at least one processor is configured to notify a signal including map information indicating whether the target object can be arranged with respect to the candidate arrangement location as information indicating the determination result. 
     
     
         3 . The arrangement control system according to  claim 1 , wherein the target object information includes an arrangement condition that is an additional condition required for the candidate arrangement location in which it is determined that the target object can be arranged. 
     
     
         4 . The arrangement control system according to  claim 1 , wherein the at least one processor is configured to:
 acquire the upper limit information in each of a plurality of the candidate arrangement locations in an area where a transport apparatus can transport the target object and the information regarding the occupied space of the arrangement object arranged in each of the candidate arrangement locations, and   determine, for each of the candidate arrangement locations, whether the target object can be arranged in each of the candidate arrangement locations based on the upper limit information, the target object information, and the information regarding the occupied space of the arrangement object.   
     
     
         5 . The arrangement control system according to  claim 4 , wherein
 the target object information includes an arrangement condition, and   the at least one processor is configured to select a candidate arrangement location that satisfies the arrangement condition from among one or more candidate arrangement locations in which it is determined that the target object can be arranged.   
     
     
         6 . The arrangement control system according to  claim 1 , wherein the at least one processor is configured to:
 acquire information regarding a pose of an arrangement object arranged in the candidate arrangement location, and   determine whether the target object can be arranged on the arrangement object based on the upper limit information, the target object information, the information regarding the occupied space of the arrangement object, and the information regarding the pose of the arrangement object.   
     
     
         7 . An arrangement control apparatus comprising:
 at least one memory storing instructions, and   at least one processor configured to execute the instructions to;   acquire upper limit information indicating an arrangement space in a candidate arrangement location of a target object, target object information including size information indicating a size of the target object, and information regarding an occupied space of an arrangement object arranged in the candidate arrangement location detected by a sensing means; and   output a determination result obtained by determining whether the target object can be arranged in the candidate arrangement location based on the upper limit information, the target object information, and the information regarding the occupied space of the arrangement object.   
     
     
         8 . The arrangement control apparatus according to  claim 7 , wherein the at least one processor is configured to notify a signal including map information indicating whether the target object can be arranged with respect to the candidate arrangement location as information indicating the determination result. 
     
     
         9 . The arrangement control apparatus according to  claim 7 , wherein the target object information includes an arrangement condition that is an additional condition required for the candidate arrangement location in which it is determined that the target object can be arranged. 
     
     
         10 . The arrangement control apparatus according to  claim 7 , wherein the at least one processor is configured to:
 acquire the upper limit information in each of a plurality of the candidate arrangement locations in an area where a transport apparatus can transport the target object and the information regarding the occupied space of the arrangement object arranged in each of the candidate arrangement locations, and   determine, for each of the candidate arrangement locations, whether the target object can be arranged in each of the candidate arrangement locations based on the upper limit information, the target object information, and the information regarding the occupied space of the arrangement object.   
     
     
         11 . The arrangement control apparatus according to  claim 10 , wherein
 the target object information includes an arrangement condition, and   the at least one processor is configured to select a candidate arrangement location satisfying the arrangement condition from among one or more candidate arrangement locations in which it is determined that the target object can be arranged.   
     
     
         12 . The arrangement control apparatus according to  claim 7 , wherein the at least one processor is configured to:
 acquire information regarding a pose of an arrangement object arranged in the candidate arrangement location, and   determine whether the target object can be arranged on the arrangement object based on the upper limit information, the target object information, the information regarding the occupied space of the arrangement object, and the information regarding the pose of the arrangement object.   
     
     
         13 . An arrangement control method comprising:
 acquiring upper limit information indicating an arrangement space in a candidate arrangement location of a target object, target object information including size information indicating a size of the target object, and information regarding an occupied space of an arrangement object arranged in the candidate arrangement location detected by a sensing means; and   outputting a determination result obtained by determining whether the target object can be arranged in the candidate arrangement location based on the upper limit information, the target object information, and the information regarding the occupied space of the arrangement object.   
     
     
         14 . The arrangement control method according to  claim 13 , further comprising: notifying a signal including map information indicating whether the target object can be arranged with respect to the candidate arrangement location as information indicating the determination result. 
     
     
         15 . The arrangement control method according to  claim 13 , wherein the target object information includes an arrangement condition that is an additional condition required for the candidate arrangement location in which it is determined that the target object can be arranged. 
     
     
         16 . The arrangement control method according to  claim 13 , wherein
 the acquiring includes acquiring the upper limit information in each of a plurality of the candidate arrangement locations in an area where a transport apparatus can transport the target object and the information regarding the occupied space of the arrangement object arranged in each of the candidate arrangement locations, and   the determining includes determining, for each of the candidate arrangement locations, whether the target object can be arranged in each of the candidate arrangement locations based on the upper limit information, the target object information, and the information regarding the occupied space of the arrangement object.   
     
     
         17 . The arrangement control method according to  claim 16 , wherein
 the target object information includes an arrangement condition, and   the arrangement control method includes selecting a candidate arrangement location that satisfies the arrangement condition from among one or more candidate arrangement locations in which it is determined that the target object can be arranged.   
     
     
         18 . The arrangement control method according to  claim 13 , wherein
 the acquiring includes acquiring information regarding a pose of an arrangement object arranged in the candidate arrangement location, and   the determining includes determining whether the target object can be arranged on the arrangement object based on the upper limit information, the target object information, the information regarding the occupied space of the arrangement object, and the information regarding the pose of the arrangement object.